Gripping device

Abstract

A gripper which is structurally simple and can reliably and quickly grip small articles of various different shapes. The gripper has a base including a fixed portion and a movable portion movable longitudinally toward and away from the fixed portion, a first gripper portion provided on the fixed portion, a second gripper portion provided on the movable portion, and a moving/fixing mechanism for gripping a small article of an indefinite shape by moving the second gripper portion toward the first gripper portion.

What is claimed is:  
     
       1. A gripper for gripping an article having an irregular shape, comprising a base, a fixed member mounted on said base, a movable member mounted on said base so as to be movable in a first direction toward and away from said fixed member, a first gripper portion provided on said fixed member and having a first gripper groove having a V shape in plan view, a second gripper portion provided on said movable member and having a second gripper groove having a V shape in plan view and arranged opposite said first gripper groove, and a moving/fixing mechanism to provide for moving of said second gripper portion toward said first gripper portion together with said movable member so that an article will be gripped firmly between said first and second gripper portions, one of said first and second gripper portions being slidable in a second direction perpendicular to said first direction relative to the other of said first and second gripper portions, each of said first and second gripper portions being non-pivotably supported by said base, and each of said first and second gripper portions comprising a plurality of plates arranged in vertical tiers like a comb and adapted to be inserted in spaces defined by the plates of the other gripper portion. 
     
     
       2. The gripper as claimed in claim  1  further comprising a stopper for restricting sliding movement of said one of said first and second gripper portions in said second direction. 
     
     
       3. The gripper as claimed in claim  1 , wherein said other of said first and second gripper portions is non-adjustably fixed against movement in the second direction relative to said base. 
     
     
       4. The gripper as claimed in claim  1 , wherein said moving/fixing mechanism comprises a securing member engaged with said base for movement in said first direction relative to said base, said securing member being operably engaged with said movable portion for causing movement of said movable portion in said first direction relative to said base when said securing member is moved in said first direction relative to said base. 
     
     
       5. The gripper as claimed in claim  4 , wherein said securing member comprises a bolt threadedly engaged with said base. 
     
     
       6. The gripper as claimed in claim  1 , wherein said one of said first and second gripper portions is slidably mounted to one of said fixed and movable members for movement relative thereto in said second direction, said one of said first and second gripper portions is provided with a first stopper part, and said one of said fixed and movable members is provided with a second stopper part engageable with said first stopper part to restrict sliding movement of said one of said first and second gripper portions in said second direction relative to said one of said fixed and movable members. 
     
     
       7. The gripper as claimed in claim  1 , wherein said moving/fixing mechanism comprises a securing member engaged with said movable member and adjustably engageable with said base at plural locations. 
     
     
       8. A gripper for gripping an article having an irregular shape, comprising a base, a fixed member mounted on said base, a movable member mounted on said base so as to be movable in a first direction toward and away from said fixed member, a first gripper portion provided on said fixed member and having a first gripper groove having a V shape in plan view, a second gripper portion provided on said movable member and having a second gripper groove having a V shape in plan view and arranged opposite said first gripper groove, and a moving/fixing mechanism to provide for moving of said second gripper portion toward said first gripper portion together with said movable member so that an article will be gripped firmly between said first and second gripper portions, one of said first and second gripper portions being slidable in a second direction perpendicular to said first direction relative to said base, the other of said first and second gripper portions being non-adjustably fixed against movement in the second direction relative to said base, and each of said first and second gripper portions comprising a plurality of plates arranged in vertical tiers like a comb and adapted to be inserted in spaces defined by the plates of the other gripper portion. 
     
     
       9. The gripper as claimed in claim  8 , further comprising a stopper for restricting sliding movement of said one of said first and second gripper portions in said second direction. 
     
     
       10. The gripper as claimed in claim  8 , wherein said moving/fixing mechanism comprises a securing member engaged with said base for movement in said first direction relative to said base, said securing member being operably engaged with said movable portion for causing movement of said movable portion in said first direction relative to said base when said securing member is moved in said first direction relative to said base. 
     
     
       11. The gripper as claimed in claim  10 , wherein said securing member comprises a bolt threadedly engaged with said base. 
     
     
       12. The gripper as claimed in claim  8 , wherein said one of said first and second gripper portions is slidably mounted to one of said fixed and movable members for movement relative thereto in said second direction, said one of said first and second gripper portions is provided with a first stopper part, and said one of said fixed and movable members is provided with a second stopper part engageable with said first stopper part to restrict sliding movement of said one of said first and second gripper portions in said second direction relative to said one of said fixed and movable members. 
     
     
       13. The gripper as claimed in claim  8 , wherein said moving/fixing mechanism comprises a securing member engaged with said movable member and adjustably engageable with said base at plural locations. 
     
     
       14. The gripper as claimed in claim  13 , wherein said fixing member comprises a bolt extending through said movable member, and an adjustment member secured to said bolt and engageable in engagement parts provided at said plural locations of said base.